22#ifndef KDL_ARTICULATEDBODYINERTIA_HPP
23#define KDL_ARTICULATEDBODYINERTIA_HPP
6D Inertia of a articulated body
Definition articulatedbodyinertia.hpp:40
ArticulatedBodyInertia RefPoint(const Vector &p)
Reference point change with v the vector from the old to the new point expressed in the current refer...
Definition articulatedbodyinertia.cpp:95
friend ArticulatedBodyInertia operator*(double a, const ArticulatedBodyInertia &I)
Scalar product: I_new = double * I_old.
Definition articulatedbodyinertia.cpp:49
Eigen::Matrix3d I
Definition articulatedbodyinertia.hpp:91
ArticulatedBodyInertia()
This constructor creates a zero articulated body inertia matrix,.
Definition articulatedbodyinertia.hpp:46
friend ArticulatedBodyInertia operator-(const ArticulatedBodyInertia &Ia, const ArticulatedBodyInertia &Ib)
Definition articulatedbodyinertia.cpp:60
friend ArticulatedBodyInertia operator+(const ArticulatedBodyInertia &Ia, const RigidBodyInertia &Ib)
Eigen::Matrix3d M
Definition articulatedbodyinertia.hpp:89
friend ArticulatedBodyInertia operator+(const ArticulatedBodyInertia &Ia, const ArticulatedBodyInertia &Ib)
addition I: I_new = I_old1 + I_old2, make sure that I_old1 and I_old2 are expressed in the same refer...
Definition articulatedbodyinertia.cpp:53
friend ArticulatedBodyInertia operator-(const ArticulatedBodyInertia &Ia, const RigidBodyInertia &Ib)
Eigen::Matrix3d H
Definition articulatedbodyinertia.hpp:90
~ArticulatedBodyInertia()
Definition articulatedbodyinertia.hpp:70
static ArticulatedBodyInertia Zero()
Creates an inertia with zero mass, and zero RotationalInertia.
Definition articulatedbodyinertia.hpp:65
Definition frames.hpp:570
6D Inertia of a rigid body
Definition rigidbodyinertia.hpp:37
represents rotations in 3 dimensional space.
Definition frames.hpp:302
Definition rotationalinertia.hpp:34
static RotationalInertia Zero()
Definition rotationalinertia.hpp:39
represents both translational and rotational velocities.
Definition frames.hpp:720
A concrete implementation of a 3 dimensional vector class.
Definition frames.hpp:161
static Vector Zero()
Definition frames.inl:138
represents both translational and rotational acceleration.
Definition frames.hpp:879
Definition articulatedbodyinertia.cpp:26
ArticulatedBodyInertia operator-(const ArticulatedBodyInertia &Ia, const ArticulatedBodyInertia &Ib)
Definition articulatedbodyinertia.cpp:60
ArticulatedBodyInertia operator+(const ArticulatedBodyInertia &Ia, const ArticulatedBodyInertia &Ib)
addition I: I_new = I_old1 + I_old2, make sure that I_old1 and I_old2 are expressed in the same refer...
Definition articulatedbodyinertia.cpp:53
ArticulatedBodyInertia operator*(double a, const ArticulatedBodyInertia &I)
Scalar product: I_new = double * I_old.
Definition articulatedbodyinertia.cpp:49